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First on the water test
#11
(2019-09-07, 06:13 PM)johnm Wrote: As to the servo.gain setting...
I still can not find it in any of the configuration apps.
Searched through the source and see it once but do not see where it's set.

See servo.gain in the config file and edited with vi after saving the original.
set to 2.
Hope to be able to test this afternoon.


Much better this time :-)
Sort of from memory...
Set p and d to double initial recommendation.
Ran ff and dd up a bit.

With negligible waves held  within +-1 degree with very little motor.
With small waves it would get off maybe 5 degrees but corrected with 2 short short bursts.
Particularly impressed that it would start the correction before it was off coerce like a good helmsman would.

Green Bay harbor has long about 300' wide channel  with many turns.
It's too shallow outside the channel for me for a few miles.

I navigated out with ap on compass and returned on gps.
On compass had to do a few tweaks as I expected.
On gps it worked flawlessly.

My only criticism is on large course changes it turned slower than I think it could do.
Particularly as it approached the proper course  it turned very slow.

Maybe a little more tweaking would help but good enough for now.
Maybe less D?
Tacking may be a problem.
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#12
Thanks for posting your experience.

For changing to a new course faster, increase the FF gain. You might also increase P and reduce D, but keep in mind doing this degrades performance otherwise.
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